共查询到20条相似文献,搜索用时 9 毫秒
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快速搜索随机树(Rapidly-exploring random Tree Star,RRT*)算法在移动机器人实际应用中规划路径在转向部分存在较多的冗余转折点,导致移动机器人在移动转向过程中出现多次停顿与转向,为剔除规划路径中的冗余路径点,提高机器人移动流畅性,提出一种改进的 RRT*算法。算法将局部逆序试连法引入移动机器人路径规划,在确保RRT*算法概率完备性和渐进最优性的前提下,剔除规划路径中的冗余路径节点,使最终路径更加接近最短路径。通过MATLAB仿真实验证明,规划路径平均长度缩短4%,算法耗时缩短35%,改进后的RRT*算法能缩短规划路径且转向部分路径更加平滑。最后,使用改进后的RRT*算法在室内环境下进行移动机器人路径规划实验。实验结果表明:规划路径上无冗余路径点,且移动机器人沿路径移动流畅。 相似文献
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This paper presents an interactive tool aimed at facilitating the understanding of several well-known algorithms and techniques involved in solving mobile robot motion problems. These range from those modelling the mechanics of mobility to those used in navigation. The tool focuses on describing these problems in a simple manner in order to be useful for education purposes among different disciplines. By highlighting interactivity, the tool provides a novel means to study robot motion planning ideas in a manner that enhances full understanding. Furthermore, the paper discuses how the tool can be used in an introductory course of mobile robotics. 相似文献
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《Advanced Robotics》2013,27(1-2):51-63
Path planning using conventional roadmaps, such as visibility graphs, probability roadmaps and skeleton maps, may have some disadvantages of long length, sharp turns or collisions with obstacles. Specifically, the paths using the conventional skeleton map have unnecessary turns around crossing points, which make longer paths and prevent the robot from moving smoothly. To improve the skeleton map, this paper proposes a new roadmap construction algorithm for path planning of a mobile robot using skeleton maps. The proposed algorithm alleviates the problems of the conventional algorithms by constructing roadmaps which consist of polygons around the crossing points. Simulation results show the efficiency of the proposed algorithm by comparing the results with those obtained using the conventional algorithm. 相似文献
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Zhang Ting-Wei Xu Guang-Hui Zhan Xi-Sheng Han Tao 《The Journal of supercomputing》2022,78(3):4158-4181
The Journal of Supercomputing - The selection of algorithm is the most critical part in the mobile robot path planning. At present, the commonly used algorithms for path planning are genetic... 相似文献
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目前,虽然有多种智能计算方法用于移动机器人路径规划问题,但在复杂环境下,多数智能计算方法表现出效率低下,结果较差的问题。提出一种结合基于有效顶点的栅格编码法和改进的生物地理学优化算法的移动机器人路径规划方法,以解决该类问题。结合已知的环境信息,从精英策略、降维机制和基于惯性算子的迁移操作3方面改进了生物地理学优化算法。改进算法用于机器人移动路径,与人工蜂群算法、粒子群算法和人工鱼群算法等智能算法进行比较,实验的结果证实改进算法能够更有效地解决复杂环境下机器人路径规划问题。 相似文献
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非完整移动机器人利用传感器可以解决不确定性模型和未知环境中的许多问题. 利用移动机器人上配备的传感器的信息组合提出了一种在线视点寻求算法, 结合移动机器人的运动方程和传感器的量测方程采用扩展Kalman估计来对移动机器人的位置进行修正, 以降低运动的不确定性, 从而得到一种鲁棒的规划算法, 仿真的结果证明了上述方法是行之有效的. 相似文献
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Using occupancy grids for mobile robot perception and navigation 总被引:6,自引:0,他引:6
An approach to robot perception and world modeling that uses a probabilistic tesselated representation of spatial information called the occupancy grid is reviewed. The occupancy grid is a multidimensional random field that maintains stochastic estimates of the occupancy state of the cells in a spatial lattice. To construct a sensor-derived map of the robot's world, the cell state estimates are obtained by interpreting the incoming range readings using probabilistic sensor models. Bayesian estimation procedures allow the incremental updating of the occupancy grid, using readings taken from several sensors over multiple points of view. The use of occupancy grids from mapping and for navigation is examined. Operations on occupancy grids and extensions of the occupancy grid framework are briefly considered 相似文献
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针对传统遗传算法存在的初始种群数目庞大,寻优效率和收敛速度慢的缺点,提出了一种基于粗糙集约简决策规则和删除冗余属性的方法。首先建立基于特定栅格法的环境模型,获得机器人路径规划的初始决策表,然后根据粗糙集约简推导最小化决策规则,并用于训练初始种群。最后利用遗传算法优化初始种群,获得最优规划路径。分别在简单和复杂的环境模型下进行了实验,仿真结果表明该方法能够大大减小遗传算法初始种群的规模,缩小算法搜索范围,提高遗传算法的收敛速度和寻优效率,验证了该方法的可行性和优越性。 相似文献
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This paper presents a new method for accurately estimating the pose (position and orientation) of a mobile robot by registering a segment-based local map observed from the current robot pose and a global map. The method works in a two-stage procedure. First, the orientation is determined by aligning the local and global map through a voting process based on a generalized Hough transform. Second, it uses a coarse-to-fine approach for selecting candidate positions and a weighted voting scheme to determine the degree of overlap of the two maps at each of these poses. Unlike other methods previously proposed, this approach allows us to uncouple the problem of estimating the robot orientation and the robot position which may be useful for some applications. In addition it can manage environments described by many (possibly short) segments. This paper presents some experimental results based on our mobile robot RAM-2 that show the accuracy and the robustness of the proposed method even for poor quality maps and large dead-reckoning errors. 相似文献
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We introduce an effective computer aided learning visual tool (CALVT) to teach graph-based applications. We present the robot motion planning problem as an example of such applications. The proposed tool can be used to simulate and/or further to implement practical systems in different areas of computer science such as graphics, computational geometry, robotics and networking. In the robot motion planning example, CALVT enables users to setup the working environment by creating obstacles and a robot of different shapes, specifying starting and goal positions, and setting other path or environment parameters from a user-friendly interface. The path planning system involves several phases. Each of these modules is complex and therefore we provide the possibility of visualizing graphically the output of each phase. Based on our experience, this tool has been an effective one in classroom teaching. It not only cuts down, significantly, on the instructor’s time and effort but also motivates senior/graduate students to pursue work in this specific area of research. 相似文献
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This paper is concerned with the problem of reactive navigation for a mobile robot in an unknown clustered environment. We will define reactive navigation as a mapping between sensory data and commands. Building a reactive navigation system means providing such a mapping. It can come from a family of predefined functions (like potential fields methods) or it can be built using ‘universal’ approximators (like neural networks). In this paper, we will consider another ‘universal’ approximator: fuzzy logic. We will explain how to choose the rules using a behaviour decomposition approach. It is possible to build a controller working quite well but the classical problems are still there: oscillations and local minima. Finally, we will conclude that learning is necessary for a robust navigation system and fuzzy logic is an easy way to put some initial knowledge in the system to avoid learning from zero. 相似文献
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首先通过势场栅格法、单元分解法、全局与局部转换法等三大方法介绍了单移动机器人各种不同的全覆盖算法,分析了各种不同算法的性能,指出了它们的优缺点,并对每种方法的改进方法进行了探讨分析;另外,针对多机器人协作全覆盖路径规划的研究,探讨了基于单机器人全覆盖路径规划算法和任务分配算法等结合得到的多机器人协作路径规划算法;最后探讨移动机器人全覆盖路径规划算法的研究方向。分析结果表明,对于移动机器人全覆盖算法的研究,可充分利用现有算法的优势互补,或借助多学科交叉的优势,寻找更有效的算法。 相似文献
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This paper describes the design of a new fuzzy logic-based navigation algorithm for autonomous robots. This design effectively achieves correct environment modeling and noisy and uncertain sensory data processing on low-cost hardware equipment. A hierarchical control strategy is presented in which three different reactive behaviors are fused in a single control law by means of a fuzzy supervisor guaranteeing robot safety and task accomplishment. Due to the inherent transparency of fuzzy logic, the proposed algorithm is computationally light, easily reconfigurable, and well-performing in a wide range of differing operating conditions and environments 相似文献
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This paper introduces an approach to generating environmental maps based on ultrasonic range data. By means of a learning classifier ultrasonic range data are condensed yielding abstract concepts which enable a mobile robot to discern situations. As a consequence the free-space can be partitioned into situation areas which are defined as regions wherein a specific situation can be recognized. Using dead-reckoning such situation areas can be attached to graph nodes generating a map of the free-space in the form of a graph representation. How the extended Kalman filter algorithm can be applied in this context to compensate the dead-reckoning drift is also discussed. 相似文献
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《Artificial Intelligence in Engineering》1988,3(2):103-113
We present a distributed hierarchical planning and execution monitoring system and its implementation on an actual mobile robot. The planning system is a distributed hierarchical domain independent system called FPS for Flexible Planning System. It is a rule based plan generation system with planning specific and domain specific rules. A planning solution to the ‘Boxes and Wedge’ Problem is presented.The Robot Control System (RCS) operates and monitors the robot in the real world. In order to allow real-time responses to asynchronous events (both internal and external), RCS consists of a rule-based decision kernel and a distributed set of sensor/effector monitors. RCS contains an execution model and may authorize local corrective actions, e.g., unexpected obstacle avoidance during execution of a trajectory. RCS also generates status and failure reports through which the PMs inform the different decision subsystems as to the robot's state and current capacities. The failure reports help the RCS and planners in correcting/replanning a plan that has aborted. An illustrative example of system behaviour is to be presented. 相似文献